STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD EVAL6472PD Data Sheet

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The ABS_POS register contains the current motor absolute position in agreement to the 
selected step mode; the stored value unit is equal to the selected step mode (full, half, 
quarter, etc.). The value is in 2's complement format and it ranges from -2

21

 to +2

21

-1. 

At power-on the register is initialized to “0” (HOME position).

Any attempt to write the register when the motor is running causes the command to be 
ignored and the NOTPERF_CMD flag to rise (see 

The EL_POS register contains the current electrical position of the motor. The two MSbits 
indicate the current step and the other bits indicate the current microstep (expressed in 
step/128) within the step.

         

When the EL_POS register is written by the user the new electrical position is instantly 
imposed. When the EL_POS register is written its value must be masked in order to match 
with the step mode selected in the STEP_MODE register in order to avoid a wrong 
microstep value generation (see 

); otherwise the resulting 

microstep sequence is incorrect.

Any attempt to write the register when the motor is running causes the command to be 
ignored and the NOTPERF_CMD flag to rise (see 

h18 CONFIG IC 

configuration 

16 

2E88 

Internal oscillator, 2 MHz OSCOUT 

clock, supply voltage compensation 

disabled, overcurrent shutdown 

enabled, 

slew rate = 290 V/µs TSW = 40 µs 

R, WH 

h19 STATUS 

Status  16 

High-impedance state, UVLO/reset 

flag set. 

R 

h1A RESERVED 

Reserved 

address 

h1B RESERVED 

Reserved 

address 

1. R: Readable, WH: writable only when outputs are in high-impedance, WS: writable only when motor is stopped, WR: always 

writable.

2. According to startup conditions.

3. The bit 3 of the register must be set to one.

STEP MICROSTEP